<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.14"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>PxSolverConstraintPrepDesc Struct Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
  $(document).ready(initResizable);
/* @license-end */</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="PhysXLogoBlack.png"/></td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.14 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('structPxSolverConstraintPrepDesc.html','');});
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="structPxSolverConstraintPrepDesc-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">PxSolverConstraintPrepDesc Struct Reference</div>  </div>
</div><!--header-->
<div class="contents">

<p><code>#include &lt;<a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for PxSolverConstraintPrepDesc:</div>
<div class="dyncontent">
<div class="center"><img src="structPxSolverConstraintPrepDesc__inherit__graph.png" border="0" usemap="#PxSolverConstraintPrepDesc_inherit__map" alt="Inheritance graph"/></div>
<map name="PxSolverConstraintPrepDesc_inherit__map" id="PxSolverConstraintPrepDesc_inherit__map">
<area shape="rect" id="node2" href="structPxSolverConstraintPrepDescBase.html" title="PxSolverConstraintPrepDescBase" alt="" coords="5,5,224,32"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for PxSolverConstraintPrepDesc:</div>
<div class="dyncontent">
<div class="center"><img src="structPxSolverConstraintPrepDesc__coll__graph.png" border="0" usemap="#PxSolverConstraintPrepDesc_coll__map" alt="Collaboration graph"/></div>
<map name="PxSolverConstraintPrepDesc_coll__map" id="PxSolverConstraintPrepDesc_coll__map">
<area shape="rect" id="node2" href="structPxSolverConstraintPrepDescBase.html" title="PxSolverConstraintPrepDescBase" alt="" coords="805,159,1024,185"/>
<area shape="rect" id="node3" href="structPxSolverConstraintDesc.html" title="PxSolverConstraintDesc" alt="" coords="495,196,658,223"/>
<area shape="rect" id="node4" href="structPxSolverBody.html" title="PxSolverBody" alt="" coords="237,140,340,167"/>
<area shape="rect" id="node5" href="classPxVec3.html" title="3 Element vector class. " alt="" coords="5,252,73,279"/>
<area shape="rect" id="node6" href="structPxTGSSolverBodyVel.html" title="PxTGSSolverBodyVel" alt="" coords="215,223,363,249"/>
<area shape="rect" id="node8" href="structPxSolverBodyData.html" title="PxSolverBodyData" alt="" coords="511,312,642,339"/>
<area shape="rect" id="node9" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector " alt="" coords="241,404,336,431"/>
<area shape="rect" id="node11" href="classPxMat33.html" title="3x3 matrix class " alt="" coords="251,281,326,308"/>
<area shape="rect" id="node7" href="structPxConstraintInvMassScale.html" title="PxConstraintInvMassScale" alt="" coords="488,68,665,95"/>
<area shape="rect" id="node10" href="classPxQuat.html" title="This is a quaternion class. For more information on quaternion mathematics consult a mathematics sour..." alt="" coords="6,413,73,440"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a975b1c579bfe549cbef62a0e9dc91d2d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a975b1c579bfe549cbef62a0e9dc91d2d">PX_ALIGN</a> (16, <a class="el" href="structPx1DConstraint.html">Px1DConstraint</a> *rows)</td></tr>
<tr class="memdesc:a975b1c579bfe549cbef62a0e9dc91d2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The start of the constraint rows.  <a href="#a975b1c579bfe549cbef62a0e9dc91d2d">More...</a><br /></td></tr>
<tr class="separator:a975b1c579bfe549cbef62a0e9dc91d2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a70cd18a2d279f25baab00ef7838dec16"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a70cd18a2d279f25baab00ef7838dec16">numRows</a></td></tr>
<tr class="memdesc:a70cd18a2d279f25baab00ef7838dec16"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of rows.  <a href="#a70cd18a2d279f25baab00ef7838dec16">More...</a><br /></td></tr>
<tr class="separator:a70cd18a2d279f25baab00ef7838dec16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb5f4b0d0b54dffbe066d8f9471474a3"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#afb5f4b0d0b54dffbe066d8f9471474a3">linBreakForce</a></td></tr>
<tr class="separator:afb5f4b0d0b54dffbe066d8f9471474a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7239e20d064498417e90b7630c8a87e1"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7239e20d064498417e90b7630c8a87e1">angBreakForce</a></td></tr>
<tr class="memdesc:a7239e20d064498417e90b7630c8a87e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Break forces.  <a href="#a7239e20d064498417e90b7630c8a87e1">More...</a><br /></td></tr>
<tr class="separator:a7239e20d064498417e90b7630c8a87e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3988b4c1ee2db31ae8fb427bef2021c1">minResponseThreshold</a></td></tr>
<tr class="memdesc:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum response threshold.  <a href="#a3988b4c1ee2db31ae8fb427bef2021c1">More...</a><br /></td></tr>
<tr class="separator:a3988b4c1ee2db31ae8fb427bef2021c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#afcacb0bfb6ee3e939bade4d49e5ef4b0">writeback</a></td></tr>
<tr class="memdesc:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.  <a href="#afcacb0bfb6ee3e939bade4d49e5ef4b0">More...</a><br /></td></tr>
<tr class="separator:afcacb0bfb6ee3e939bade4d49e5ef4b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7577dd31e280ee90740c321d452f88a9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7577dd31e280ee90740c321d452f88a9">disablePreprocessing</a></td></tr>
<tr class="memdesc:a7577dd31e280ee90740c321d452f88a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.  <a href="#a7577dd31e280ee90740c321d452f88a9">More...</a><br /></td></tr>
<tr class="separator:a7577dd31e280ee90740c321d452f88a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b7d111854e74252e892765ac4a3b3ad"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3b7d111854e74252e892765ac4a3b3ad">improvedSlerp</a></td></tr>
<tr class="memdesc:a3b7d111854e74252e892765ac4a3b3ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use improved slerp model.  <a href="#a3b7d111854e74252e892765ac4a3b3ad">More...</a><br /></td></tr>
<tr class="separator:a3b7d111854e74252e892765ac4a3b3ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addb6a6a2962b8ce47ff7bf53db6f7759"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#addb6a6a2962b8ce47ff7bf53db6f7759">driveLimitsAreForces</a></td></tr>
<tr class="memdesc:addb6a6a2962b8ce47ff7bf53db6f7759"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether drive limits are forces.  <a href="#addb6a6a2962b8ce47ff7bf53db6f7759">More...</a><br /></td></tr>
<tr class="separator:addb6a6a2962b8ce47ff7bf53db6f7759"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7dd4e0d49745651ea820b9ab93ff12c5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a7dd4e0d49745651ea820b9ab93ff12c5">extendedLimits</a></td></tr>
<tr class="memdesc:a7dd4e0d49745651ea820b9ab93ff12c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether we want to use extended limits.  <a href="#a7dd4e0d49745651ea820b9ab93ff12c5">More...</a><br /></td></tr>
<tr class="separator:a7dd4e0d49745651ea820b9ab93ff12c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDesc.html#a3a5cece8fd2221a2d154c2ca2398cf48">body0WorldOffset</a></td></tr>
<tr class="memdesc:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Body0 world offset.  <a href="#a3a5cece8fd2221a2d154c2ca2398cf48">More...</a><br /></td></tr>
<tr class="separator:a3a5cece8fd2221a2d154c2ca2398cf48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_attribs_structPxSolverConstraintPrepDescBase"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structPxSolverConstraintPrepDescBase')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></td></tr>
<tr class="memitem:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">invMassScales</a></td></tr>
<tr class="memdesc:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The local mass scaling for this pair.  <a href="structPxSolverConstraintPrepDescBase.html#a298a86d11c87a19bab4874d932f19188">More...</a><br /></td></tr>
<tr class="separator:a298a86d11c87a19bab4874d932f19188 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">desc</a></td></tr>
<tr class="memdesc:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output: The <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> filled in by contact prep.  <a href="structPxSolverConstraintPrepDescBase.html#ae6a7c6dbbf6ade521ca9f485fa70ecab">More...</a><br /></td></tr>
<tr class="separator:ae6a7c6dbbf6ade521ca9f485fa70ecab inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58839e53ce16cf2d9ec3a54ead955870 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBody.html">PxSolverBody</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">body0</a></td></tr>
<tr class="memdesc:a58839e53ce16cf2d9ec3a54ead955870 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The first body. Stores velocity information. Unused unless contact involves articulations.  <a href="structPxSolverConstraintPrepDescBase.html#a58839e53ce16cf2d9ec3a54ead955870">More...</a><br /></td></tr>
<tr class="separator:a58839e53ce16cf2d9ec3a54ead955870 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cc18f29a8da2a1e8d6af3e9fdce942c inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBody.html">PxSolverBody</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">body1</a></td></tr>
<tr class="memdesc:a6cc18f29a8da2a1e8d6af3e9fdce942c inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The second body. Stores velocity information. Unused unless contact involves articulations.  <a href="structPxSolverConstraintPrepDescBase.html#a6cc18f29a8da2a1e8d6af3e9fdce942c">More...</a><br /></td></tr>
<tr class="separator:a6cc18f29a8da2a1e8d6af3e9fdce942c inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad58b181d4ac418941bddfd3ce8065a10 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">data0</a></td></tr>
<tr class="memdesc:ad58b181d4ac418941bddfd3ce8065a10 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The first <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a>. Stores mass and miscellaneous information for the first body.  <a href="structPxSolverConstraintPrepDescBase.html#ad58b181d4ac418941bddfd3ce8065a10">More...</a><br /></td></tr>
<tr class="separator:ad58b181d4ac418941bddfd3ce8065a10 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">data1</a></td></tr>
<tr class="memdesc:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The second <a class="el" href="structPxSolverBodyData.html">PxSolverBodyData</a>. Stores mass and miscellaneous information for the second body.  <a href="structPxSolverConstraintPrepDescBase.html#aeeffe63a1a4b9f7b3a822b0f2d99a62d">More...</a><br /></td></tr>
<tr class="separator:aeeffe63a1a4b9f7b3a822b0f2d99a62d inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a251d9872155e952dcdd7dec21b9471a3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxTransform.html">PxTransform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">bodyFrame0</a></td></tr>
<tr class="memdesc:a251d9872155e952dcdd7dec21b9471a3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The world-space transform of the first body.  <a href="structPxSolverConstraintPrepDescBase.html#a251d9872155e952dcdd7dec21b9471a3">More...</a><br /></td></tr>
<tr class="separator:a251d9872155e952dcdd7dec21b9471a3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxTransform.html">PxTransform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">bodyFrame1</a></td></tr>
<tr class="memdesc:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: The world-space transform of the second body.  <a href="structPxSolverConstraintPrepDescBase.html#a043bdbd0966b02478725edcb027a9819">More...</a><br /></td></tr>
<tr class="separator:a043bdbd0966b02478725edcb027a9819 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4173f8c3d6662232720fdd99c9f65b9e inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">bodyState0</a></td></tr>
<tr class="memdesc:a4173f8c3d6662232720fdd99c9f65b9e inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: Defines what kind of actor the first body is.  <a href="structPxSolverConstraintPrepDescBase.html#a4173f8c3d6662232720fdd99c9f65b9e">More...</a><br /></td></tr>
<tr class="separator:a4173f8c3d6662232720fdd99c9f65b9e inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f2321b7e28076c3b14e30c0c9f9bdf3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">bodyState1</a></td></tr>
<tr class="memdesc:a6f2321b7e28076c3b14e30c0c9f9bdf3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">In: Defines what kind of actor the second body is.  <a href="structPxSolverConstraintPrepDescBase.html#a6f2321b7e28076c3b14e30c0c9f9bdf3">More...</a><br /></td></tr>
<tr class="separator:a6f2321b7e28076c3b14e30c0c9f9bdf3 inherit pub_attribs_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_structPxSolverConstraintPrepDescBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_structPxSolverConstraintPrepDescBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="structPxSolverConstraintPrepDescBase.html">PxSolverConstraintPrepDescBase</a></td></tr>
<tr class="memitem:afadce7bc6a74c62a91c1876aa34e9a4f inherit pub_types_structPxSolverConstraintPrepDescBase"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4f">BodyState</a> { <a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa6f030c0742671e6fe38c87ff48eba4ca">eDYNAMIC_BODY</a> = 1 &lt;&lt; 0, 
<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa558ab36462aa417f686f03eabf3db6b3">eSTATIC_BODY</a> = 1 &lt;&lt; 1, 
<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa60a5b498ccb90a2f703fb277b7784807">eKINEMATIC_BODY</a> = 1 &lt;&lt; 2, 
<a class="el" href="structPxSolverConstraintPrepDescBase.html#afadce7bc6a74c62a91c1876aa34e9a4fa55d8f5d447451c19b05290583597ce1c">eARTICULATION</a> = 1 &lt;&lt; 3
 }</td></tr>
<tr class="separator:afadce7bc6a74c62a91c1876aa34e9a4f inherit pub_types_structPxSolverConstraintPrepDescBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a975b1c579bfe549cbef62a0e9dc91d2d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a975b1c579bfe549cbef62a0e9dc91d2d">&#9670;&nbsp;</a></span>PX_ALIGN()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PxSolverConstraintPrepDesc::PX_ALIGN </td>
          <td>(</td>
          <td class="paramtype">16&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structPx1DConstraint.html">Px1DConstraint</a> *&#160;</td>
          <td class="paramname"><em>rows</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>The start of the constraint rows. </p>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a7239e20d064498417e90b7630c8a87e1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7239e20d064498417e90b7630c8a87e1">&#9670;&nbsp;</a></span>angBreakForce</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PxReal PxSolverConstraintPrepDesc::angBreakForce</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Break forces. </p>

</div>
</div>
<a id="a3a5cece8fd2221a2d154c2ca2398cf48"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3a5cece8fd2221a2d154c2ca2398cf48">&#9670;&nbsp;</a></span>body0WorldOffset</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classPxVec3.html">PxVec3</a> PxSolverConstraintPrepDesc::body0WorldOffset</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Body0 world offset. </p>

</div>
</div>
<a id="a7577dd31e280ee90740c321d452f88a9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7577dd31e280ee90740c321d452f88a9">&#9670;&nbsp;</a></span>disablePreprocessing</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool PxSolverConstraintPrepDesc::disablePreprocessing</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities. </p>

</div>
</div>
<a id="addb6a6a2962b8ce47ff7bf53db6f7759"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addb6a6a2962b8ce47ff7bf53db6f7759">&#9670;&nbsp;</a></span>driveLimitsAreForces</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool PxSolverConstraintPrepDesc::driveLimitsAreForces</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Indicates whether drive limits are forces. </p>

</div>
</div>
<a id="a7dd4e0d49745651ea820b9ab93ff12c5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7dd4e0d49745651ea820b9ab93ff12c5">&#9670;&nbsp;</a></span>extendedLimits</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool PxSolverConstraintPrepDesc::extendedLimits</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Indicates whether we want to use extended limits. </p>

</div>
</div>
<a id="a3b7d111854e74252e892765ac4a3b3ad"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3b7d111854e74252e892765ac4a3b3ad">&#9670;&nbsp;</a></span>improvedSlerp</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">bool PxSolverConstraintPrepDesc::improvedSlerp</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Use improved slerp model. </p>

</div>
</div>
<a id="afb5f4b0d0b54dffbe066d8f9471474a3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afb5f4b0d0b54dffbe066d8f9471474a3">&#9670;&nbsp;</a></span>linBreakForce</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PxReal PxSolverConstraintPrepDesc::linBreakForce</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="a3988b4c1ee2db31ae8fb427bef2021c1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3988b4c1ee2db31ae8fb427bef2021c1">&#9670;&nbsp;</a></span>minResponseThreshold</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PxReal PxSolverConstraintPrepDesc::minResponseThreshold</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>The minimum response threshold. </p>

</div>
</div>
<a id="a70cd18a2d279f25baab00ef7838dec16"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70cd18a2d279f25baab00ef7838dec16">&#9670;&nbsp;</a></span>numRows</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxSolverConstraintPrepDesc::numRows</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>The number of rows. </p>

</div>
</div>
<a id="afcacb0bfb6ee3e939bade4d49e5ef4b0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afcacb0bfb6ee3e939bade4d49e5ef4b0">&#9670;&nbsp;</a></span>writeback</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void* PxSolverConstraintPrepDesc::writeback</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL. </p>

</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- HTML footer for doxygen 1.8.14-->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a></li>
    <li class="footer">Copyright &copy; 2008-2021 NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, CA 95051 U.S.A. All rights reserved. <a href="http://www.nvidia.com ">www.nvidia.com</a></li>
  </ul>
</div>
</body>
</html>
